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Tree-based path planners have been shown to be well suited to solve various high dimensional motion planning problems. Here we present a variant of the Rapidly-Exploring Random Tree (RRT) path planning algorithm that is able to explore narrow passages or difficult areas more effectively. We show that both workspace obstacle information and C-space(More)
Shepherding behaviors are a type of group be haviors in which one group (the shepherds) tries to control the motion of another group (the flock). Shepherding behaviors can be found in many forms in nature and have various important robotic applications. In this paper we extend our previous work of shepherding behaviors with a single shepherd to multiple(More)
Although there are many motion planning techniques, there is no single one that performs optimally in every environment for every movable object. Rather, each technique has different strengths and weaknesses which makes it best-suited for particular types of situations. Also, since a given environment can consist of vastly different regions, there may not(More)
Shepherding behaviors are a type of flocking behavior in which outside agents guide or control members of a flock. Shepherding behaviors can be found in various forms in nature. For example, herding, covering, patrolling and collecting are common types of shepherding behaviors. In this work, we investigate ways to simulate these types of behaviors. A(More)
Automatic motion planning has applications ranging from traditional robotics to computer-aided design to computational biology and chemistry. While randomized planners, such as probabilistic roadmap methods (prms) or rapidly-exploring random trees (rrt), have been highly successful in solving many high degree of freedom problems, there are still many(More)
Though motion planning has been studied extensively for rigid and articulated robots, motion planning for deformable objects is an area that has received far less attention. In this paper we present a framework for planning paths in completely deformable, elastic environments. We apply a deformable model to the robot and obstacles in the environment and(More)
As transistors continue to scale down into the nanometer regime, device leakage currents are becoming the dominant cause of power dissipation in nanometer caches, making it essential to model these leakage effects properly. Moreover, typical microprocessor caches are pipelined to keep up with the speed of the processor, and the effects of pipelining(More)
There are many randomized motion planning techniques, but it is often difficult to determine what planning method to apply to best solve a problem. Planners have their own strengths and weaknesses, and each one is best suited to a specific type of problem. In previous work, we proposed a meta-planner that, through analysis of the problem features,(More)
Nine fish species of commercial interest from six teleost families and two species of elasmobranchs were selected for characterisation of hepatic biomarkers used in early-warning assessment of pollutant exposure. The sampling was carried out in front of the Barcelona coast (NW Mediterranean) during December 2006 at shelf (53 m) and slope (660 m) depths. The(More)
In this work, we present a formulation of an evacuation planning problem that is inspired by motion planning and describe an integrated behavioral agent-based and roadmap-based motion planning approach to solve it. Our formulation allows users to test the effect on evacuation of a number of different environmental factors. One of our main focuses is to(More)